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          This is an application built to control a custom build robot for the 
          first annual International Autonomous Robotics Competition.  The
          program was written by two California State University, San Marcos
          students Clark Scheff and Zebulon Evans.  The competion entry was 
          sponsored by CSU, San Marcos and Mini Micro Stencil.
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          The robot knows as "Earl" was built using two Tamaya high power
          gearboxes, salvaged opto-interrupters from a old wheel mouse.  Earl
          uses a Ping ultrasonic sensor from Parallax, a bump sensor, and two
          Sharp infared ranging sensors.  The brains of Earl are provided by
          a PIC coded in C which controlls odometry for controlled movement, 
          the motor controller, bump sensor, and the IR base station sensor 
          (used to find the iRobot base station.)  A SunSPOT from Sun
          Microsystems was used to run the main algorithm for maze exploration
          and base station finding.  The SunSpot is coded in Java and reads
          the IR sensors and the sonar sensor while communicating with the PIC
          over serial.
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